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Copter: rename limit_angle_to_rate_request to use_input_shaping

This commit is contained in:
Leonard Hall 2016-06-17 20:52:24 +09:30 committed by Randy Mackay
parent 3b7658c502
commit 07cadc7ddd
1 changed files with 5 additions and 5 deletions
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10
ArduCopter/control_autotune.cpp
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@ -215,7 +215,7 @@ void Copter::autotune_stop()
autotune_load_orig_gains();
// re-enable angle-to-rate request limits
attitude_control.limit_angle_to_rate_request(true);
attitude_control.use_ff_and_input_shaping(true);
// log off event and send message to ground station
autotune_update_gcs(AUTOTUNE_MESSAGE_STOPPED);
@ -312,7 +312,7 @@ void Copter::autotune_run()
autotune_state.pilot_override = true;
// set gains to their original values
autotune_load_orig_gains();
attitude_control.limit_angle_to_rate_request(true);
attitude_control.use_ff_and_input_shaping(true);
}
// reset pilot override time
autotune_override_time = millis();
@ -357,7 +357,7 @@ void Copter::autotune_attitude_control()
case AUTOTUNE_STEP_WAITING_FOR_LEVEL:
// Note: we should be using intra-test gains (which are very close to the original gains but have lower I)
// re-enable rate limits
attitude_control.limit_angle_to_rate_request(true);
attitude_control.use_ff_and_input_shaping(true);
// hold level attitude
attitude_control.input_euler_angle_roll_pitch_yaw( 0.0f, 0.0f, autotune_desired_yaw, true, get_smoothing_gain());
@ -432,7 +432,7 @@ void Copter::autotune_attitude_control()
// Note: we should be using intra-test gains (which are very close to the original gains but have lower I)
// disable rate limits
attitude_control.limit_angle_to_rate_request(false);
attitude_control.use_ff_and_input_shaping(false);
if ((autotune_state.tune_type == AUTOTUNE_TYPE_SP_DOWN) || (autotune_state.tune_type == AUTOTUNE_TYPE_SP_UP)) {
// Testing increasing stabilize P gain so will set lean angle target
@ -531,7 +531,7 @@ void Copter::autotune_attitude_control()
case AUTOTUNE_STEP_UPDATE_GAINS:
// re-enable rate limits
attitude_control.limit_angle_to_rate_request(true);
attitude_control.use_ff_and_input_shaping(true);
// log the latest gains
if ((autotune_state.tune_type == AUTOTUNE_TYPE_SP_DOWN) || (autotune_state.tune_type == AUTOTUNE_TYPE_SP_UP)) {